Set Streaming Feedback Properties

By sending this message, the controller is instructed to send the available streaming feedback messages to the desired endpoint via UDP.

For further information on configuring the feedback messages, refer to the getting started section: Configure Streaming Feedback

Payload

As noted above, this message’s payload defines both the endpoint to which streaming feedback messages shall be sent, as well as at which frequency.

  • frequency_status The frequency in Hz, at which streaming status messages will be sent. Set to 0 to disable.

  • frequency_cartesian_pose The frequency in Hz, at which the current cartesian pose will be sent. Set to 0 to disable.

  • frequency_joint_pose The frequency in Hz, at which the current joint angles will be sent. Set to 0 to disable.

  • desired_remote_address The IP to which feedback messages will be sent.

  • desired_remote_port The Port to which feedback messages will be sent.

Example:

1  {
2  "frequency_status": 10,
3  "frequency_cartesian_pose": 0,
4  "frequency_joint_pose": 0,
5  "desired_remote_address": {
6     "address": "127.0.0.1"
7  },
8  "desired_remote_port": 28001
9  }